Iterative learning control based on finite time tracking differentiator

作者：Li, Xiang-Yang^*

来源：Acta Automatica Sinica, 2014, 40(7): 1366-1375.

DOI：10.3724/SP.J.1004.2014.01366

• Desired trajectories
• Finite time tracking
• Initial state
• Iterative learning control
• Iterative learning Control (ILC)
• Nonlinear time varying systems
• System uncertainties
• Transition process

For the initial state problem of iterative learning control (ILC), a method of arranging transition process is presented using finite time tracking differentiators. A finite time tracking differentiator, whose parameters are easy to adjust because of their clear physical meanings, is designed according to the feature of ILC that the desired trajectory is known beforehand. Based on this, an ILC algorithm with estimator for system uncertainty is presented for a class of nonlinear time-varying system with uncertainty. A Lyapunov-like approach is used to prove the corresponding theorems. Simulation results verify the effectiveness of the proposed methods.

• 出版日期2014-7
• 单位华南理工大学